CN107885215A - A kind of two-wheeled wireless remote controlled intelligent dolly - Google Patents
A kind of two-wheeled wireless remote controlled intelligent dolly Download PDFInfo
- Publication number
- CN107885215A CN107885215A CN201711172411.9A CN201711172411A CN107885215A CN 107885215 A CN107885215 A CN 107885215A CN 201711172411 A CN201711172411 A CN 201711172411A CN 107885215 A CN107885215 A CN 107885215A
- Authority
- CN
- China
- Prior art keywords
- module
- dolly
- wireless remote
- remote controlled
- wheeled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 3
- 238000002310 reflectometry Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001914 filtration Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- -1 AIN2 Proteins 0.000 description 1
- 101100156949 Arabidopsis thaliana XRN4 gene Proteins 0.000 description 1
- 101000970561 Homo sapiens Myc box-dependent-interacting protein 1 Proteins 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 102100021970 Myc box-dependent-interacting protein 1 Human genes 0.000 description 1
- 101100215777 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ain1 gene Proteins 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, including master controller, range finder module, bluetooth module, six road infrared modules, posture read module, DC motor Driver module, two from direct current generator with encoder；The master controller is connected with range finder module, bluetooth module, six road infrared modules, posture read module, DC motor Driver module respectively；The master controller, range finder module, bluetooth module, six road infrared modules, posture read module, two direct current generators are respectively connected with power module.The beneficial effect that the present invention is reached：The present invention abandons remote control, carries out data transfer by the bluetooth module in mobile phone app and trolley control system so as to manipulate dolly；Different from the lorry of routine, dolly is two-wheeled, using MPU6050 posture balancing modules, it is possible to achieve the self-balancing of two-wheeled dolly；In addition dolly can realize this two additional functions of automatic obstacle avoiding, black line tracking.
Description
Technical field
The present invention relates to a kind of two-wheeled wireless remote controlled intelligent dolly, belong to balance control technology field.
Background technology
There is miscellaneous remote operated vehicle on the market at this stage, the control of dolly is realized by a special remote-control handle
System.But existing dolly is present the problem of remote-control handle is fragile, volume is very much not portable and trolley function pattern is single, especially
In dolly traveling process, stability is difficult to ensure that.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of two-wheeled wireless remote controlled intelligent dolly, base
In Kalman filtering control algolithm and without remote-control handle, the stationarity control of autonomous tracking, the upright dolly of the two-wheeled of avoidance is realized
System.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, including master controller, for perceiving dolly and preceding object
The range finder module of thing distance, bluetooth module, six road infrared modules, posture read module, DC motor Driver module, two carry
The direct current generator for being used to drive moving of car of encoder；Master controller respectively with range finder module, bluetooth module, the infrared mould in six tunnels
Block, posture read module, the connection of DC motor Driver module；The master controller, range finder module, bluetooth module, six tunnels are infrared
Module, posture read module, two direct current generators are respectively connected with power module；The DC motor Driver module respectively with two
Direct current generator is connected；The bluetooth module is used to be connected with mobile phone terminal, and dolly is controlled；Six road infrared module profit
In the body surface of different colours there is the characteristics of different reflectivity properties to judge with infrared ray is black and white road surface, is completed corresponding
Tracking function.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, the master controller is using 32
STM32F103C8T6 chips.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, the range finder module is HC-SR04 ultrasounds
Away from module.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, six road infrared module compares including LM339
Device module and three pairs of infrared tube modules；Wherein infrared tube module includes producing the transmitting tube of infrared light and inside electricity after being powered
Resistance can with receive infrared light number and the reception pipe of change, due to black light-absorbing, the reception pipe when running into black and white road surface
Corresponding resistance value of different sizes, so as to distinguish black and white road surface；Wherein LM339 comparator modules are used for comparing what is pre-set
The external circuit voltage of voltage and infrared tube, a high-low voltage according to the change of black and white road surface is exported, then this is sent to master
Controller, so as to judge it is black and white road surface.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, the posture read module, which uses to have gathered, to be added
The axle sensor chips of MPU6050 six of velocity sensor and gyroscope；The axle sensor chips of MPU6050 six pass from acceleration
The data that are read in sensor and gyroscope carry out Kalman filtering processing, then after controlling by pid control algorithm the advance of dolly
Move back.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, the DC motor Driver module uses
TB6612FNG motor drive ics.
A kind of foregoing two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, the voltage stabilizing chip that the power module uses for
LM2940 and ASM1117, external voltage is down to 5V using LM2940, recycles ASM1117 that 5V voltages are down into 3.3V.
The beneficial effect that the present invention is reached：The present invention abandons remote control, by mobile phone app and trolley control system
Bluetooth module carry out data transfer so as to manipulating dolly；Different from the lorry of routine, dolly is two-wheeled, is used
MPU6050 posture balancing modules, it is possible to achieve the self-balancing of two-wheeled dolly；In addition dolly can realize that automatic obstacle avoiding, black line follow
This two additional functions of mark；The present apparatus effectively prevent existing two wheeler and be controlled caused by the effect of machine driving or center of gravity power
It is unstable；It can realize and stably control on steady road surface and domatic with constant slope, can also be used as various filtering controls to calculate
The experimental stand of method, compare the superiority-inferiority of algorithms of different.
Brief description of the drawings
Fig. 1 is the overall structure figure of the present apparatus.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
A kind of two-wheeled wireless remote controlled intelligent dolly that the present invention designs, including master controller, range finder module, bluetooth module,
Six road infrared modules, posture read module, DC motor Driver module, two from direct current generator with encoder and power supply mould
Block, annexation are as shown in Figure 1.
Power module to ultrasonic wave module, infrared module, six axle sensor modules, bluetooth module, motor drive module and
The direct current generator power supply of left and right two.
Master controller is handled so as to realize self-balancing, avoidance and tracking the data of each sensor from outside.
Mobile phone can set dolly to be in remote control mode, keep away as remote terminal by the bluetooth module of trolley control system
Barrier pattern and tracking pattern.When dolly is under remote control mode, by mobile phone app dolly can be controlled all around to move.
When dolly is under avoidance pattern, dolly independently advances, and independently changes the direction of motion when front runs into barrier.Work as dolly
When under tracking pattern, dolly advances according to the black trace line planned in advance.
The power source that balancing trolley uses is 2S high current model plane lithium batteries, and battery pack reaches 8.4V full of voltage.And system
Segment chip need 5V to power, segment chip needs 3.3V to power, so power-switching circuit is needed, using chip
LM2940-5.0 and ASM1117-3.3, stablize clean power supply to individually be provided to sensor MPU-6050, specially individually make
Powered with XC6206 to MPU-6050.
Three wheeler of the two-wheeled dolly from the lorry of routine or with universal wheel is different, primarily solves the problems, such as just
It is equilibrium problem.Using the MPU6050 chips for integrating gyroscope and accelerometer, incline to obtain more accurate dolly
Angle, the present invention carries out Kalman filtering processing to the data read from gyroscope and accelerometer, then passes through pid control algorithm
The forward-reverse of dolly is controlled so as to realizing the balance of dolly.
Two direct current generators have selected the TB6612FNG driving chips of built-in two groups of H-bridge circuits.Wherein PWMA, PWMB connect
STM32F10C8T6 PWM output pins, general 10KHZ PWM, the dutycycle by adjusting PWM realize the tune of motor
Speed.AO1, AO2, BO1, BO2 connect the both positive and negative polarity of two direct current generators.AIN1, AIN2, BIN1, BIN2 pin control two direct currents
The rotating of motor.
Bluetooth module is principal and subordinate's integrated module, and the module supporting interface enriches, support SPP bluetooth serial ports agreements, have into
This low, small volume, transmitting-receiving sensitivity is high, using it is simple the advantages that.
HC-SR04 ultrasonic distance measuring modules can provide 2cm-400cm contactless distance sensing function, and range accuracy can
3mm is arrived up to height；Module includes ultrasonic transmitter, receiver and control circuit.Module have four pins be respectively VCC, Trig,
Echo、GND.Its circuit is connected as VCC and supplies 5V power supplys, and GND is ground wire, and TRIG Trig control signals input, ECHO response signals
Output.The general principle of ranging is：To one lasting more than 10us of Trig pins high level, ultrasonic wave module sends 8 automatically
Whether individual 40khz square wave, automatic detection have signal return, there is signal return, and a high level, high level are exported by ECHO
Duration is exactly ultrasonic wave from the time for being transmitted into return.ECHO pin high level is obtained by STM32 input capture
Duration, then obtain distance=(the high level time * velocities of sound (340M/S))/2.
Six road infrared modules include LM339 and three pair of infrared tube.Using infrared ray different colours object table mask
Have the characteristics of different reflectivity properties, dolly traveling during constantly earthward launch infrared light, when infrared light run into it is white
Diffusing reflection occurs during color floor, the reception pipe that reflected light is loaded on dolly is just received；Infrared light is absorbed if black line is run into,
The reception pipe of dolly does not receive infrared light.Occur if both above phenomenon is described with the height of level low and high level it
Point, that is, so-called 0 and 1 two states occur, this is now sent to the I/O mouths of main control chip, single-chip microcomputer can again
Judgement is black and white road surface, and then completes corresponding tracking function.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of two-wheeled wireless remote controlled intelligent dolly, it is characterized in that, including master controller, for perceiving dolly and front obstacle
The range finder module of distance, bluetooth module, six road infrared modules, posture read module, DC motor Driver module, two carry volume
The direct current generator for being used to drive moving of car of code device；
The master controller drives with range finder module, bluetooth module, six road infrared modules, posture read module, direct current generator respectively
Dynamic model block connects；
The master controller, range finder module, bluetooth module, six road infrared modules, posture read module, two direct current generators connect
It is connected to power module；
The DC motor Driver module is connected with two direct current generators respectively；
The bluetooth module is used to be connected with mobile phone terminal, and dolly is controlled；
The posture read module is used to control moving forward and backward for car wheel；
Six road infrared module in the body surface of different colours there is the characteristics of different reflectivity properties to sentence using infrared ray
Disconnected is black and white road surface, and passes data to master controller and complete corresponding tracking function.
2. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, the master controller uses 32
The STM32F103C8T6 chips of position.
3. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, the range finder module is HC-
SR04 ultrasonic distance measuring modules.
4. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, the six roads infrared module bag
Include LM339 comparator modules and three pairs of infrared tube modules.
5. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, the posture read module is adopted
With the axle sensor chips of MPU6050 six for including acceleration transducer and gyroscope.
6. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, the DC motor Driver mould
Block uses TB6612FNG motor drive ics.
7. a kind of two-wheeled wireless remote controlled intelligent dolly according to claim 1, it is characterized in that, what the power module used
Voltage stabilizing chip is LM2940 and ASM1117；The LM2940 voltage stabilizing chips are used to external voltage being down to 5V；The ASM1117
Voltage stabilizing chip is used to 5V voltages being down to 3.3V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172411.9A CN107885215A (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711172411.9A CN107885215A (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107885215A true CN107885215A (en) | 2018-04-06 |
Family
ID=61778015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711172411.9A Pending CN107885215A (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107885215A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460026A (en) * | 2018-11-16 | 2019-03-12 | 西安科技大学 | A kind of multi-functional line walking trolley based on wireless video transmission |
| CN110320918A (en) * | 2019-07-28 | 2019-10-11 | 五邑大学 | A kind of Internet of Things intelligent carriage |
| CN110502017A (en) * | 2019-09-02 | 2019-11-26 | 上海工程技术大学 | A kind of Intelligent tracking avoidance trolley and the method by small routine differential control |
| CN110764524A (en) * | 2019-12-16 | 2020-02-07 | 华南理工大学广州学院 | Laser tracking balance car control circuit |
| CN111367298A (en) * | 2020-05-07 | 2020-07-03 | 哈尔滨理工大学 | STM 32-based vehicle intelligent safety driving control system |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1952996A (en) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | Inverted pendulum of remote car with two wheels and balance control method thereof |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN105425802A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Two-wheeled intelligent balance vehicle and control method thereof |
| CN105617677A (en) * | 2016-03-28 | 2016-06-01 | 南通理工学院 | Intelligent trolley capable of being controlled by Bluetooth mobile phone |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN207457835U (en) * | 2017-11-22 | 2018-06-05 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent trolley |
-
2017
- 2017-11-22 CN CN201711172411.9A patent/CN107885215A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1952996A (en) * | 2005-10-18 | 2007-04-25 | 中国科学技术大学 | Inverted pendulum of remote car with two wheels and balance control method thereof |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN105425802A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Two-wheeled intelligent balance vehicle and control method thereof |
| CN105617677A (en) * | 2016-03-28 | 2016-06-01 | 南通理工学院 | Intelligent trolley capable of being controlled by Bluetooth mobile phone |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN207457835U (en) * | 2017-11-22 | 2018-06-05 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent trolley |
Non-Patent Citations (1)
| Title |
|---|
| 路成强;曾洁;李千振;: "基于卡尔曼滤波的两轮自平衡遥控小车设计", 自动化仪表, no. 09, pages 48 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109460026A (en) * | 2018-11-16 | 2019-03-12 | 西安科技大学 | A kind of multi-functional line walking trolley based on wireless video transmission |
| CN110320918A (en) * | 2019-07-28 | 2019-10-11 | 五邑大学 | A kind of Internet of Things intelligent carriage |
| CN110502017A (en) * | 2019-09-02 | 2019-11-26 | 上海工程技术大学 | A kind of Intelligent tracking avoidance trolley and the method by small routine differential control |
| CN110764524A (en) * | 2019-12-16 | 2020-02-07 | 华南理工大学广州学院 | Laser tracking balance car control circuit |
| CN111367298A (en) * | 2020-05-07 | 2020-07-03 | 哈尔滨理工大学 | STM 32-based vehicle intelligent safety driving control system |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107885215A (en) | A kind of two-wheeled wireless remote controlled intelligent dolly | |
| CN109782764A (en) | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle | |
| CN105212840B (en) | Clean robot and its control method | |
| CN103342101B (en) | Induction type non-contact charge location alignment device and localization method thereof | |
| CN207718228U (en) | A kind of reliable indoor omni-directional mobile robots recharging system | |
| CN207457835U (en) | A kind of two-wheeled wireless remote controlled intelligent trolley | |
| CN107656528A (en) | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 | |
| CN105334853A (en) | Double-core high-speed four-wheel miniature micro-mouse sprint controller | |
| CN208126197U (en) | A kind of unmanned trolley control system and unmanned trolley | |
| CN207457832U (en) | A kind of two-wheeled wireless remote controlled intelligent trolley based on STM32 | |
| CN105807689A (en) | Two-wheel self-balance car control system | |
| CN210016300U (en) | Self-moving device and charging docking system | |
| CN102799182A (en) | All-around video transmission obstacle avoidance car | |
| CN106444771A (en) | ZigBee-based simulated multi-agent coordination controlling method | |
| CN111823228A (en) | Indoor following robot system and operation method | |
| CN207240184U (en) | Mobile object follows the trail of robot | |
| CN108608443A (en) | A kind of intellect service robot control system | |
| CN107344587A (en) | A kind of Self-Balancing vehicle obstacle avoidance system based on PID controller | |
| CN212522923U (en) | Ball picking robot system | |
| CN208076404U (en) | Vehicular exhaust blackness detector and system | |
| CN213620302U (en) | Lunar vehicle control system and lunar vehicle | |
| CN108582077A (en) | A kind of intellect service robot control method | |
| CN208188676U (en) | A kind of autonomous traveling carriage device of view-based access control model SLAM technology | |
| CN207937864U (en) | The device that robot recharges automatically is realized using multichannel external environment detection module | |
| CN207937872U (en) | A kind of avoidance trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |